Underwater binocular stereo vision measuring system and method based on dynamic reference coordinate system

A technology of binocular stereo vision and reference coordinate system, which is applied in measuring devices, photogrammetry/video metrology, surveying and navigation, etc. It can solve the problems of low measurement accuracy and achieve high reconstruction accuracy

Active Publication Date: 2019-09-20
SHANGHAI UNIV
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0005] In order to solve the problem of low measurement accuracy caused by continuous vibration at the measurement site, the present invention proposes an underwater binocular stereo vision measurement system and method based on a dynamic reference coordinate system

Method used

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  • Underwater binocular stereo vision measuring system and method based on dynamic reference coordinate system
  • Underwater binocular stereo vision measuring system and method based on dynamic reference coordinate system
  • Underwater binocular stereo vision measuring system and method based on dynamic reference coordinate system

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Embodiment 1

[0052] Embodiment one: see Figure 1 ~ Figure 4 ,

[0053] The underwater binocular stereo vision measurement system based on the dynamic reference coordinate system includes a binocular stereo vision measurement system and a dynamic reference coordinate system, and is characterized in that: the binocular stereo vision measurement system includes two high-speed camera packaging bins (1, 2) and a laser scanning computing unit packaging compartment (3). The two high-speed camera packaging bins (1, 2) are symmetrically installed at both ends of a rectangular aluminum profile frame (11), and the laser scanning computing unit packaging bin (3) is installed in the middle of the rectangular frame;

[0054] There is a metal pendulum mirror (6), a laser (5) and a calculation unit in the packaging compartment of the laser scanning calculation unit. When the metal pendulum mirror (6) swings, the laser light emitted by the laser device (5) can be within the field of view of the camera. ...

Embodiment 2

[0056] Embodiment two: see Figure 5 ~ Figure 11 ,

[0057] This underwater binocular stereo vision measurement method based on the dynamic reference coordinate system adopts the underwater binocular stereo vision measurement system based on the dynamic reference coordinate system according to claim 1 to carry out the measurement operation, and the specific operation steps are as follows:

[0058] Step 1: Laser scan the object and the target to obtain a series of picture groups: fix the target object to be scanned and the active cursor target on the aluminum profile frame, use the 3D reconstruction device in the Chinese patent CN201810584975.1 for laser scanning and Picture taking, obtaining a picture set with laser stripes and target points;

[0059] Step 2: Perform corner detection on the target points in the picture group and sort the target points;

[0060] Step 3: Calculate the three-dimensional coordinates of the target point and establish the coordinate system of the ...

Embodiment 3

[0064] The underwater binocular stereo vision measurement system and method based on the dynamic reference coordinate system is characterized in that: the method is to establish a dynamic reference coordinate system to eliminate the measurement error caused by vibration, and the measurement system is two high-speed camera packaging bins (1 and 1). 2) Symmetrically distributed at both ends of the entire device, the laser scanning computing unit encapsulation chamber (3) is located in the middle of the device.

[0065] The laser scanning system is equipped with a metal swing mirror (6), which can make the laser light emitted by the inline laser (5) scan in the field of view of the camera when swinging. In addition to adopting high-pressure-resistant packaging for the packaging chamber, a high-voltage-resistant connecting pipe (4) is also designed between the high-speed camera packaging chamber and the laser scanning computing unit packaging chamber. Since there is no watertight ...

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Abstract

The invention provides an underwater binocular stereo vision measuring system and method based on a dynamic reference coordinate system. A dynamic reference coordinate system is built through using four active cursor targets to eliminate a measurement error caused by vibration. An underwater stereo vision reconstruction method based on a light field model is used to calculate a three-dimensional coordinate of a target angular point under a scanning system. A coded point coordinate system is established by carrying out singular value decomposition on a coordinate matrix of the target angular point. A spatial three-dimensional point of a laser stripe in a scanning system coordinate system is calculated by using an underwater laser stripe matching and stereo reconstruction method based on the light field model. The measurement error caused by the vibration is eliminated by calculating the three-dimensional coordinate of a laser stripe center point of each group of pictures under the scanning system and converting to the scanning system coordinate system of the first group of picture target points. An underwater target point is packaged in a high pressure resistant state and can withstand high pressure of deep sea 4000 meters. Therefore, the system can be used for a dynamic high precision measurement scene of the deep sea 4000 meters.

Description

technical field [0001] The invention belongs to the field of underwater computer vision research, and relates to an underwater binocular stereo vision measurement system and method based on a dynamic reference coordinate system. The measurement error caused by system vibration is eliminated by establishing the dynamic reference coordinate system. Background technique [0002] Stereo vision dynamic measurement system is an important direction for the development of three-dimensional coordinate measurement system, which has the advantages of large measurement space, high measurement accuracy, simple operation, and good measurement flexibility. It can effectively solve the problems in the measurement process of large and complex parts, such as large parts, difficult handling, many hidden features and difficulties in multi-target tracking. But despite this, due to the lack of robustness of the pose estimation method and the continuous vibration of the measurement site, the binoc...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01B11/25G01C11/00G01C11/02G06K9/62
CPCG01B11/25G01C11/00G01C11/025G06F18/241
Inventor 张旭司艳姣李锦波屠大维
Owner SHANGHAI UNIV
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